Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 316 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 180 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 13

MISSION 6 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 11.5

DIVE 316 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 350 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.5

STOP_T 0 N_FILEKB 4 VBD_MIN 400 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 2390 MOTHERBOARD 6

D_TGT 220 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 3 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 72

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_DIVE 70 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 100 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 185 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3625 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2100 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 MAXI_10V 1.4 SEABIRD_T_G 0.0042874566

D_OFFGRID 1000 PITCH_GAIN 45 FG_AHR_10V 13.796299 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 56.83601 SEABIRD_T_I 2.1947648e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.2037441e-06

MAX_BUOY 100 PITCH_ADJ_GAIN 0 PRESSURE_YINT -154.46213 SEABIRD_C_G -9.9419231

GLIDE_SLOPE 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022299301 SEABIRD_C_H 1.1375728

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0016241658

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002088599

MASS 55693 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 360 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139236 ROLL_MAX 3880 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 3230 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 3000 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00062267116

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.1947648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_FREQUENCY 13 D_TGT 220 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 13.796299 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 56.83601 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3625 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0139236 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 185 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 180 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_ABORT 1440

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PRESSURE_SLOPE 0.00022299301 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -154.46213 T_DIVE 70

C_PITCH 2100 LOGGERDEVICE1 7 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 72 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 3000 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 100

C_ROLL_DIVE 3230 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2390 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 2

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 55693 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.4 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3880 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 100 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 360 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 316 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 400

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 3 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9419231 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1375728 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.0016241658 XPDR_INT 13

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.0002088599 XPDR_REP 11.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0042874566 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021022,050537,3751.817,-12503.122,62,1.1,66,13.6 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021022,050950,3751.807,-12503.122,3,1.1,5,13.6 MHEAD_RNG_PITCHd_Wd 167.1,54286,-25.5,-10.476,-29.53,1425,0.162

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME LineB_2 IRON 1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024

TGT_LATLONG 3722.600,-12500.000

Post-dive calculations and measurements:

FINISH -0.1,1.002361 FG_AHR_10Vo 13.834

SM_CCo 4707.01,0.00,0.000,0,718.9,730.4,707.5,409.91 MEM0 60148,1,0,0

SM_GC 1.03,0.00,6.88,0.38,0.000,0.110,0.080,718.9,730.4,707.5,176.6,3259.7,0,0,0,30.00,15.57,15.59 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909344,56,136184,96

IRIDIUM_FIX 3754.47,-12502.43,021022,035022 DATA_FILE_SIZE 25685,925

TCM_TEMP 15.55 CAP_FILE_SIZE 344507,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3797280

SC_FREEKB 3776480 SDFILEDIR 1840,1

HUMID 52.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.14 CURRENT 0.293,359.9,1

INTERNAL_PRESSURE 8.75218 MAGCAL 1.000000,-0.041843,-0.064900,-0.151759,1.156508,-0.016612,-0.014673,-0.043488,1.154187,-16.3,-1134.5,-607.4,23,0.0221,0

_24V_AH 15.06,67.537 IMPLIED_C_PITCH 2018,33.84,710,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2306,24.718357,384,0

FG_AHR_24Vo 56.958 GPS 021022,062859,3752.157,-12503.232,7,1.3,15,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 468 1242 8762.16 nil 0 0 0.00

Pitch_motor 17 481 130.48 nil 0 0 0.00

Roll_motor 43 150 97.46 nil 0 0 0.00

Iridium 158 185 442.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 1084 6 110.57 SciCon 4664 18 1284.47

Fast 23 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2461 2 73.83

Compass 1186 5 88.99

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.56 16386 -97.32 -0.69 0.00 957.4 953.8 961.0 175.1 3284.2 0.00 0.00 0 69.34 61.28 0.00 0.00 0.005 0.000 0.000 2147.03 2191.44 2102.62 174.81 3284.00 0 0 0 15.63 30.00 30.00

69.59 18727 -97.32 -0.69 40.00 2146.6 2190.1 2103.1 175.0 3283.0 3.65 -4.50 12 100.57 16.86 9.56 1.04 0.006 0.482 0.099 2785.41 2849.25 2721.56 1876.00 3901.56 0 0 0 15.68 15.43 15.59

328.09 1028 -97.32 -0.69 0.00 2789.5 2849.8 2729.2 1876.6 3902.1 42.82 -10.52 64 332.59 0.00 0.00 1.12 0.000 0.000 0.036 2789.59 2849.50 2729.69 1876.56 3171.75 0 0 0 30.00 30.00 15.90

513.38 260 -97.32 -0.69 40.00 2789.7 2849.4 2729.9 1876.6 3171.2 64.77 -13.02 101 517.89 0.00 0.00 1.25 0.000 0.000 0.091 2790.12 2849.94 2730.31 1872.75 3902.88 0 0 0 30.00 30.00 15.95

598.40 1028 -97.32 -0.69 0.00 2790.2 2849.4 2730.9 1872.9 3902.3 75.72 -12.12 118 602.91 0.00 0.00 1.12 0.000 0.000 0.036 2790.53 2850.19 2730.88 1873.19 3169.31 0 0 0 30.00 30.00 16.00

783.45 0 -97.32 -0.69 0.00 2790.2 2849.7 2730.8 1873.5 3169.6 95.80 -10.58 155 784.79 0.00 0.00 0.00 0.000 0.000 0.000 2789.03 2846.94 2731.12 1872.94 3168.88 0 0 0 30.00 30.00 30.00

968.50 516 -97.32 -0.69 -40.00 2790.0 2849.7 2730.2 1873.1 3169.9 113.65 -9.34 192 973.79 0.00 0.00 2.19 0.000 0.000 0.023 2790.12 2849.31 2730.94 1873.19 1718.25 0 0 0 30.00 30.00 16.03

993.26 1028 -97.32 -0.69 0.00 2790.5 2849.4 2731.6 1873.4 1713.6 115.88 -9.11 197 998.88 0.00 0.00 2.63 0.000 0.000 0.082 2790.50 2850.06 2730.94 1873.12 3249.56 0 0 0 30.00 30.00 16.01

1303.60 0 -97.32 -0.69 0.00 2790.0 2849.1 2730.9 1873.1 3249.7 144.89 -9.02 259 1304.94 0.00 0.00 0.00 0.000 0.000 0.000 2789.03 2847.25 2730.81 1872.75 3248.62 0 0 0 30.00 30.00 30.00

1608.67 516 -97.32 -0.69 -40.00 2790.1 2849.2 2730.9 1872.8 3248.9 171.73 -8.46 320 1613.98 0.00 0.00 2.35 0.000 0.000 0.025 2791.34 2850.50 2732.19 1872.81 1720.44 0 0 0 30.00 30.00 16.07

1653.43 1028 -97.32 -0.69 0.00 2790.0 2848.8 2731.2 1873.1 1708.8 175.20 -7.72 329 1659.09 0.00 0.00 2.63 0.000 0.000 0.083 2790.53 2849.62 2731.44 1872.69 3249.12 0 0 0 30.00 30.00 16.06

1963.76 260 -97.32 -0.69 40.00 2790.1 2849.1 2731.2 1872.9 3248.7 202.10 -9.11 391 1968.65 0.00 0.00 1.09 0.000 0.000 0.098 2791.53 2850.81 2732.25 1868.62 3900.00 0 0 0 30.00 30.00 16.05

2003.77 1028 -97.32 -0.69 0.00 2789.8 2848.1 2731.5 1869.0 3899.4 205.89 -9.49 399 2008.51 0.00 0.00 1.12 0.000 0.000 0.041 2789.62 2848.50 2730.75 1868.31 3169.38 0 0 0 30.00 30.00 16.09

2159 end dive: TARGET_DEPTH_EXCEEDED

state 2159 begin apogee

2160.05 10243 0.00 -0.11 0.00 2789.9 2848.5 2731.4 1869.1 2947.5 220.23 -9.21 430 2244.77 80.90 0.68 0.13 1.242 0.222 0.150 2389.41 2434.44 2344.38 2067.62 3024.62 0 0 0 12.21 15.97 15.57

2246 end apogee: CONTROL_FINISHED_OK

state 2246 begin climb

2246.82 10243 97.32 0.69 0.00 2387.1 2433.1 2341.1 2067.9 3024.4 223.09 0.00 447 2327.14 77.84 0.76 0.00 1.213 0.108 0.000 1992.88 2005.12 1980.62 2327.25 3024.25 0 0 0 12.52 15.67 30.00

2630.47 8742 163.18 0.77 -40.00 1984.9 2003.3 1966.4 2327.8 3024.2 216.03 5.73 524 2686.86 50.97 0.00 2.40 1.200 0.000 0.022 1722.94 1734.12 1711.75 2337.75 1519.81 0 0 0 12.33 30.00 15.57

2910.25 1028 163.18 0.77 0.00 1719.6 1729.5 1709.8 2340.2 1507.7 184.05 12.57 580 2915.84 0.00 0.00 2.55 0.000 0.000 0.063 1720.78 1730.81 1710.75 2338.94 3020.62 0 0 0 30.00 30.00 15.90

3220.61 16902 163.18 0.77 -40.00 1715.2 1730.4 1700.1 2339.6 3021.8 141.26 13.58 642 3225.92 0.00 0.00 2.35 0.000 0.000 0.019 1715.38 1731.00 1699.75 2349.44 1515.62 0 0 0 30.00 30.00 15.91

3275.37 17414 163.18 0.77 0.00 1715.4 1731.0 1699.8 2350.9 1503.8 134.63 11.62 653 3281.20 0.00 0.00 2.55 0.000 0.000 0.063 1715.06 1730.56 1699.56 2351.06 3024.62 0 0 0 30.00 30.00 15.93

3585.72 16902 163.18 0.77 -40.00 1714.4 1730.8 1698.1 2351.1 3024.3 96.07 11.66 715 3591.04 0.00 0.00 2.34 0.000 0.000 0.018 1714.72 1731.00 1698.44 2361.75 1516.38 0 0 0 30.00 30.00 15.97

3635.49 17414 163.18 0.77 0.00 1714.7 1731.2 1698.1 2363.2 1503.1 90.83 10.12 725 3641.32 0.00 0.00 2.53 0.000 0.000 0.062 1714.38 1730.50 1698.25 2362.81 3024.94 0 0 0 30.00 30.00 15.96

3825.86 16710 163.18 0.79 40.00 1714.3 1730.9 1697.7 2362.6 3024.3 72.25 9.28 763 3830.64 0.00 0.00 1.45 0.000 0.000 0.077 1714.31 1731.00 1697.62 2362.62 3905.00 0 0 0 30.00 30.00 15.95

4010.86 9254 220.71 0.86 0.00 1714.3 1730.8 1697.8 2363.1 3905.5 58.42 6.33 800 4057.14 43.78 0.00 1.48 1.056 0.000 0.021 1490.50 1498.50 1482.50 2370.81 2873.00 0 0 0 12.28 30.00 15.98

4240.71 260 220.71 0.86 40.00 1484.4 1497.8 1471.1 2370.3 2873.6 33.68 13.04 846 4245.55 0.00 0.00 1.75 0.000 0.000 0.076 1484.56 1498.00 1471.12 2370.50 3904.12 0 0 0 30.00 30.00 15.82

4285.72 1028 220.71 0.86 0.00 1484.2 1497.4 1471.0 2370.0 3903.6 27.18 14.33 855 4290.51 0.00 0.00 1.50 0.000 0.000 0.020 1484.97 1498.25 1471.69 2377.69 2836.69 0 0 0 30.00 30.00 15.88

4475.70 10791 321.41 0.99 -40.00 1482.7 1497.8 1467.6 2377.8 2836.2 15.31 3.21 893 4552.77 73.38 0.11 2.07 0.992 0.095 0.020 1078.56 1083.06 1074.06 2452.81 1519.94 0 0 0 12.28 15.89 15.60

4555.94 9254 420.13 1.11 0.00 1077.8 1081.8 1073.9 2453.3 1505.9 12.33 3.36 909 4622.79 63.35 0.00 2.59 0.941 0.000 0.062 724.84 728.12 721.56 2452.81 3023.62 0 0 0 12.50 30.00 15.65

4623 end climb: SURFACE_DEPTH_REACHED

state 4623 begin surface coast

4636 end surface coast: CONTROL_FINISHED_OK

state 4636 begin surface

ID	180	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	13
MISSION	6	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	11.5
DIVE	316	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	350	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.5
STOP_T	0	N_FILEKB	4	VBD_MIN	400	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	2390	MOTHERBOARD	6
D_TGT	220	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	3	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	72
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_DIVE	70	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	100	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	185	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3625	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2100	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	MAXI_10V	1.4	SEABIRD_T_G	0.0042874566
D_OFFGRID	1000	PITCH_GAIN	45	FG_AHR_10V	13.796299	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	56.83601	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	100	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-154.46213	SEABIRD_C_G	-9.9419231
GLIDE_SLOPE	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022299301	SEABIRD_C_H	1.1375728
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0016241658
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002088599
MASS	55693	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	360	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139236	ROLL_MAX	3880	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	3230	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	3000	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	021022,050537,3751.817,-12503.122,62,1.1,66,13.6	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021022,050950,3751.807,-12503.122,3,1.1,5,13.6	MHEAD_RNG_PITCHd_Wd	167.1,54286,-25.5,-10.476,-29.53,1425,0.162
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	LineB_2	IRON	1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024
TGT_LATLONG	3722.600,-12500.000

FINISH	-0.1,1.002361	FG_AHR_10Vo	13.834
SM_CCo	4707.01,0.00,0.000,0,718.9,730.4,707.5,409.91	MEM0	60148,1,0,0
SM_GC	1.03,0.00,6.88,0.38,0.000,0.110,0.080,718.9,730.4,707.5,176.6,3259.7,0,0,0,30.00,15.57,15.59	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909344,56,136184,96
IRIDIUM_FIX	3754.47,-12502.43,021022,035022	DATA_FILE_SIZE	25685,925
TCM_TEMP	15.55	CAP_FILE_SIZE	344507,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3797280
SC_FREEKB	3776480	SDFILEDIR	1840,1
HUMID	52.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.14	CURRENT	0.293,359.9,1
INTERNAL_PRESSURE	8.75218	MAGCAL	1.000000,-0.041843,-0.064900,-0.151759,1.156508,-0.016612,-0.014673,-0.043488,1.154187,-16.3,-1134.5,-607.4,23,0.0221,0
_24V_AH	15.06,67.537	IMPLIED_C_PITCH	2018,33.84,710,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2306,24.718357,384,0
FG_AHR_24Vo	56.958	GPS	021022,062859,3752.157,-12503.232,7,1.3,15,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	468	1242	8762.16	nil	0	0	0.00
Pitch_motor	17	481	130.48	nil	0	0	0.00
Roll_motor	43	150	97.46	nil	0	0	0.00
Iridium	158	185	442.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	1084	6	110.57	SciCon	4664	18	1284.47
Fast	23	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2461	2	73.83
Compass	1186	5	88.99
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.56	16386	-97.32	-0.69	0.00	957.4	953.8	961.0	175.1	3284.2	0.00	0.00	0	69.34	61.28	0.00	0.00	0.005	0.000	0.000	2147.03	2191.44	2102.62	174.81	3284.00	0	0	0	15.63	30.00	30.00
69.59	18727	-97.32	-0.69	40.00	2146.6	2190.1	2103.1	175.0	3283.0	3.65	-4.50	12	100.57	16.86	9.56	1.04	0.006	0.482	0.099	2785.41	2849.25	2721.56	1876.00	3901.56	0	0	0	15.68	15.43	15.59
328.09	1028	-97.32	-0.69	0.00	2789.5	2849.8	2729.2	1876.6	3902.1	42.82	-10.52	64	332.59	0.00	0.00	1.12	0.000	0.000	0.036	2789.59	2849.50	2729.69	1876.56	3171.75	0	0	0	30.00	30.00	15.90
513.38	260	-97.32	-0.69	40.00	2789.7	2849.4	2729.9	1876.6	3171.2	64.77	-13.02	101	517.89	0.00	0.00	1.25	0.000	0.000	0.091	2790.12	2849.94	2730.31	1872.75	3902.88	0	0	0	30.00	30.00	15.95
598.40	1028	-97.32	-0.69	0.00	2790.2	2849.4	2730.9	1872.9	3902.3	75.72	-12.12	118	602.91	0.00	0.00	1.12	0.000	0.000	0.036	2790.53	2850.19	2730.88	1873.19	3169.31	0	0	0	30.00	30.00	16.00
783.45	0	-97.32	-0.69	0.00	2790.2	2849.7	2730.8	1873.5	3169.6	95.80	-10.58	155	784.79	0.00	0.00	0.00	0.000	0.000	0.000	2789.03	2846.94	2731.12	1872.94	3168.88	0	0	0	30.00	30.00	30.00
968.50	516	-97.32	-0.69	-40.00	2790.0	2849.7	2730.2	1873.1	3169.9	113.65	-9.34	192	973.79	0.00	0.00	2.19	0.000	0.000	0.023	2790.12	2849.31	2730.94	1873.19	1718.25	0	0	0	30.00	30.00	16.03
993.26	1028	-97.32	-0.69	0.00	2790.5	2849.4	2731.6	1873.4	1713.6	115.88	-9.11	197	998.88	0.00	0.00	2.63	0.000	0.000	0.082	2790.50	2850.06	2730.94	1873.12	3249.56	0	0	0	30.00	30.00	16.01
1303.60	0	-97.32	-0.69	0.00	2790.0	2849.1	2730.9	1873.1	3249.7	144.89	-9.02	259	1304.94	0.00	0.00	0.00	0.000	0.000	0.000	2789.03	2847.25	2730.81	1872.75	3248.62	0	0	0	30.00	30.00	30.00
1608.67	516	-97.32	-0.69	-40.00	2790.1	2849.2	2730.9	1872.8	3248.9	171.73	-8.46	320	1613.98	0.00	0.00	2.35	0.000	0.000	0.025	2791.34	2850.50	2732.19	1872.81	1720.44	0	0	0	30.00	30.00	16.07
1653.43	1028	-97.32	-0.69	0.00	2790.0	2848.8	2731.2	1873.1	1708.8	175.20	-7.72	329	1659.09	0.00	0.00	2.63	0.000	0.000	0.083	2790.53	2849.62	2731.44	1872.69	3249.12	0	0	0	30.00	30.00	16.06
1963.76	260	-97.32	-0.69	40.00	2790.1	2849.1	2731.2	1872.9	3248.7	202.10	-9.11	391	1968.65	0.00	0.00	1.09	0.000	0.000	0.098	2791.53	2850.81	2732.25	1868.62	3900.00	0	0	0	30.00	30.00	16.05
2003.77	1028	-97.32	-0.69	0.00	2789.8	2848.1	2731.5	1869.0	3899.4	205.89	-9.49	399	2008.51	0.00	0.00	1.12	0.000	0.000	0.041	2789.62	2848.50	2730.75	1868.31	3169.38	0	0	0	30.00	30.00	16.09
2159	end dive: TARGET_DEPTH_EXCEEDED
state	2159	begin apogee
2160.05	10243	0.00	-0.11	0.00	2789.9	2848.5	2731.4	1869.1	2947.5	220.23	-9.21	430	2244.77	80.90	0.68	0.13	1.242	0.222	0.150	2389.41	2434.44	2344.38	2067.62	3024.62	0	0	0	12.21	15.97	15.57
2246	end apogee: CONTROL_FINISHED_OK
state	2246	begin climb
2246.82	10243	97.32	0.69	0.00	2387.1	2433.1	2341.1	2067.9	3024.4	223.09	0.00	447	2327.14	77.84	0.76	0.00	1.213	0.108	0.000	1992.88	2005.12	1980.62	2327.25	3024.25	0	0	0	12.52	15.67	30.00
2630.47	8742	163.18	0.77	-40.00	1984.9	2003.3	1966.4	2327.8	3024.2	216.03	5.73	524	2686.86	50.97	0.00	2.40	1.200	0.000	0.022	1722.94	1734.12	1711.75	2337.75	1519.81	0	0	0	12.33	30.00	15.57
2910.25	1028	163.18	0.77	0.00	1719.6	1729.5	1709.8	2340.2	1507.7	184.05	12.57	580	2915.84	0.00	0.00	2.55	0.000	0.000	0.063	1720.78	1730.81	1710.75	2338.94	3020.62	0	0	0	30.00	30.00	15.90
3220.61	16902	163.18	0.77	-40.00	1715.2	1730.4	1700.1	2339.6	3021.8	141.26	13.58	642	3225.92	0.00	0.00	2.35	0.000	0.000	0.019	1715.38	1731.00	1699.75	2349.44	1515.62	0	0	0	30.00	30.00	15.91
3275.37	17414	163.18	0.77	0.00	1715.4	1731.0	1699.8	2350.9	1503.8	134.63	11.62	653	3281.20	0.00	0.00	2.55	0.000	0.000	0.063	1715.06	1730.56	1699.56	2351.06	3024.62	0	0	0	30.00	30.00	15.93
3585.72	16902	163.18	0.77	-40.00	1714.4	1730.8	1698.1	2351.1	3024.3	96.07	11.66	715	3591.04	0.00	0.00	2.34	0.000	0.000	0.018	1714.72	1731.00	1698.44	2361.75	1516.38	0	0	0	30.00	30.00	15.97
3635.49	17414	163.18	0.77	0.00	1714.7	1731.2	1698.1	2363.2	1503.1	90.83	10.12	725	3641.32	0.00	0.00	2.53	0.000	0.000	0.062	1714.38	1730.50	1698.25	2362.81	3024.94	0	0	0	30.00	30.00	15.96
3825.86	16710	163.18	0.79	40.00	1714.3	1730.9	1697.7	2362.6	3024.3	72.25	9.28	763	3830.64	0.00	0.00	1.45	0.000	0.000	0.077	1714.31	1731.00	1697.62	2362.62	3905.00	0	0	0	30.00	30.00	15.95
4010.86	9254	220.71	0.86	0.00	1714.3	1730.8	1697.8	2363.1	3905.5	58.42	6.33	800	4057.14	43.78	0.00	1.48	1.056	0.000	0.021	1490.50	1498.50	1482.50	2370.81	2873.00	0	0	0	12.28	30.00	15.98
4240.71	260	220.71	0.86	40.00	1484.4	1497.8	1471.1	2370.3	2873.6	33.68	13.04	846	4245.55	0.00	0.00	1.75	0.000	0.000	0.076	1484.56	1498.00	1471.12	2370.50	3904.12	0	0	0	30.00	30.00	15.82
4285.72	1028	220.71	0.86	0.00	1484.2	1497.4	1471.0	2370.0	3903.6	27.18	14.33	855	4290.51	0.00	0.00	1.50	0.000	0.000	0.020	1484.97	1498.25	1471.69	2377.69	2836.69	0	0	0	30.00	30.00	15.88
4475.70	10791	321.41	0.99	-40.00	1482.7	1497.8	1467.6	2377.8	2836.2	15.31	3.21	893	4552.77	73.38	0.11	2.07	0.992	0.095	0.020	1078.56	1083.06	1074.06	2452.81	1519.94	0	0	0	12.28	15.89	15.60
4555.94	9254	420.13	1.11	0.00	1077.8	1081.8	1073.9	2453.3	1505.9	12.33	3.36	909	4622.79	63.35	0.00	2.59	0.941	0.000	0.062	724.84	728.12	721.56	2452.81	3023.62	0	0	0	12.50	30.00	15.65
4623	end climb: SURFACE_DEPTH_REACHED
state	4623	begin surface coast
4636	end surface coast: CONTROL_FINISHED_OK
state	4636	begin surface